Display method, device, head-up display, and storage medium for follow-up icon

Abstract

The present invention discloses a method and apparatus for displaying a following icon, a head-up display, and a storage medium. The method for displaying the following icon includes the following steps: while the vehicle is running, based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle, determine whether the current position of the target following vehicle exceeds the display range of the head-up display; if it is determined that the current position of the target following vehicle does not exceed the display range, determine the display position of the icon based on the real-time reference distance, and dynamically display the following icon of the target following vehicle in a first predetermined manner at the display position of the icon; if it is determined that the current position of the target following vehicle exceeds the display range, display the following icon in a second predetermined manner at a predetermined display position.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of Chinese Patent Application No. 202210611420.8, filed in China on June 1, 2022, and the entire content of the said application is incorporated herein by reference.

[0002] This disclosure relates to the field of intelligent driving technology, for example, a method for displaying a following icon, an apparatus, a head - up display, and a storage medium.

Background Art

[0003] With the integration of Augmented Reality (AR) technology and Head Up Display (HUD) technology, the application of head - up displays in intelligent driving vehicles is becoming increasingly widespread. The head - up display based on AR technology uses the vehicle's front windshield as a display, and through the internal optical system, forms real - time vehicle speed information during vehicle driving, information of the vehicle ahead, etc. as virtual images at a distance, and can combine the virtual images with the actual traffic situation for display.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the content displayed by the head - up display has limited assistance functions for the driver during driving. As a result, the visual experience of the driver when using the head - up display is not good.

Means for Solving the Problems

[0005] The present invention discloses a method and apparatus for displaying a following icon, a head-up display, and a storage medium. The technical solution improves the driver assistance function in the head-up display and can enhance the visual experience when the driver uses the head-up display.

[0006] In a first aspect, when the current vehicle is in motion, based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle (the real-time reference distance that the target following vehicle has with respect to the current vehicle), a step of determining whether the current position of the target following vehicle exceeds the display range of the head-up display, when it is determined that the current position of the target following vehicle does not exceed the display range, determining the display position of the icon based on the real-time reference distance, and dynamically displaying the following icon of the target following vehicle in a first predetermined manner at the display position of the icon, when it is determined that the current position of the target following vehicle exceeds the display range, a step of displaying the following icon in a second predetermined manner at a predetermined display position, is disclosed for a method of displaying a following icon.

[0007] In a second aspect, a determination module, when the current vehicle is in motion, determines whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance that the target following vehicle has with respect to the current vehicle, and a display module is configured to determine the display position of the icon based on the real-time reference distance and dynamically display the following icon of the target following vehicle in a first predetermined manner at that position when the determination module determines that the current position of the target following vehicle does not exceed the display range, and the display module is also configured to display the following icon in a second predetermined manner at a predetermined display position when the determination module determines that the current position of the target following vehicle exceeds the display range, for a display apparatus of a following icon.

[0008] In a third aspect, a head-up display includes a memory, a processor, a bus, and a communication interface, wherein the memory is configured to store computer-executable instructions, the processor is connected to the memory via the bus, and during operation of the head-up display, the processor executes the computer-executable instructions stored in the memory and is configured to execute the method for displaying a follow-up icon according to the first aspect. A head-up display is disclosed.

[0009] In a fourth aspect, a computer-readable storage medium stores instructions therein, and when the instructions are executed by a computer, the method for displaying a follow-up icon according to the first aspect is executed. A computer-readable storage medium is disclosed.

[0010] In a fifth aspect, the present invention discloses a computer program product including computer instructions. When the computer instructions are executed on a computer, the computer executes the method for displaying a follow-up icon according to the first aspect disclosed in the first aspect.

[0011] All or part of the above computer instructions can be stored in a computer-readable storage medium. Note that the computer-readable storage medium may be packaged integrally with the processor of the head-up display or packaged separately from the processor, and the present disclosure does not particularly limit this.

[0012] For the descriptions of the second, third, fourth, and fifth aspects in the present disclosure, reference can be made to the description of the first aspect. Also, for the effects of the second, third, fourth, and fifth aspects, reference can be made to the effect analysis of the first aspect, so repeated descriptions are not provided here.

[0013] In the present disclosure, the names of the above-related devices or functional modules do not constitute limitations. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of multiple devices or functional modules are similar to those of the present disclosure, they are included within the scope of the claims of the present disclosure and its equivalent technologies.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0015] Hereinafter, with reference to the accompanying drawings, a method for displaying a follow icon, a device, a head-up display, and a storage medium according to an embodiment of the present invention will be described.

[0016] The term "and / or" in this specification represents the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: when only A exists, when A and B exist simultaneously, and when only B exists.

[0017] The terms "first", "second", etc. in the specification and drawings of the present disclosure are used to distinguish different objects or different processes for the same object, and do not represent a specific order of the objects.

[0018] In addition, the terms "comprising" and "having" described in the present disclosure and their variants are intended to be inclusive rather than exclusive. For example, a process, method, system, product or device comprising the recited steps or elements is not limited to the recited steps or elements, but may further include other steps or elements, or may include other steps or elements specific to the process, method, product or device.

[0019] In the embodiments of the present disclosure, the terms "exemplary" or "for example" are used to indicate examples, explanations or illustrations. Embodiments or designs described as "exemplary" or "for example" in the embodiments of the present disclosure should not be construed as being preferred or superior to other embodiments or designs. Rather, the terms "exemplary" or "for example" are used for the purpose of specifically presenting related concepts.

[0020] In the description of the present disclosure, unless otherwise specified, "a plurality" refers to two or more. Also, the acquisition, storage, use, processing, etc. of data in the technical solutions of the present disclosure are all carried out in accordance with national laws and regulations.

[0021] A head-up display based on AR technology uses the front windshield of a vehicle as a display, and through an internal optical system, forms real-time vehicle speed information and information of surrounding vehicles during the running of the vehicle as a virtual image at a distance, and can display the virtual image in combination with the actual traffic situation. However, the display content of the head-up display has limited auxiliary functions for the driver during driving. As a result, the visual experience of the driver when using the head-up display is poor.

[0022] To solve the problems in the above related art, in an embodiment of the present invention, a method for displaying a following icon is disclosed. The method for displaying a following icon according to the present invention displays a following icon of a target following vehicle by different display methods (including a first predetermined method and a second predetermined method) based on the real-time reference distance that the target following vehicle has with respect to the current vehicle, improves the driver assistance function in the head-up display, and can improve the visual experience when the driver uses the head-up display.

[0023] The method for displaying a following icon disclosed in an embodiment of the present invention can be applied to a display device for the following icon, and this display device for the following icon may be a head-up display or a chip processing system in the head-up display, etc.

[0024] Hereinafter, with reference to the accompanying drawings, the method for displaying a following icon disclosed in an embodiment of the present invention will be described.

[0025] Referring to FIG. 1, the method for displaying a following icon disclosed in an embodiment of the present invention includes steps S101 to S102:

[0026] S101: While the current vehicle is running, based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle, determine whether the current position of the target following vehicle exceeds the display range of the head-up display.

[0027] The target following vehicle may be a vehicle in front of the current vehicle that is tracked by an Adaptive Cruise Control (ACC) device while the current vehicle is running. The display parameters of the head-up display include the field of view (FOV) of the head-up display. The larger the field of view, the wider the display range of the head-up display.

[0028] In an embodiment of the present disclosure, in order to improve the driver assistance function in a head-up display, a display function of a following icon of a target following vehicle may be added to the head-up display. Since the display parameters of the head-up display are fixed, the display range of the head-up display is also constant. When the real-time reference distance of the target following vehicle from the current vehicle is far, the target following vehicle may exceed the display range of the head-up display. In this case, the following icon of the target following vehicle cannot be displayed at the corresponding position of the target following vehicle on the head-up display. Therefore, in an embodiment of the present disclosure, before displaying the following icon of the target following vehicle, it is first determined whether the current position of the target following vehicle exceeds the display range of the head-up display.

[0029] The real-time reference distance includes a real-time horizontal reference distance and a real-time vertical reference distance. In an embodiment of the present disclosure, the following method can be used to determine whether the current position of the target following vehicle exceeds the display range of the head-up display. That is, based on the display parameters and the real-time vertical reference distance, the real-time horizontal distance range of the target following vehicle within the display range of the head-up display is determined, and it is determined whether the real-time horizontal reference distance is within this horizontal distance range, and whether the real-time vertical reference distance is within the vertical display range of the head-up display, so as to obtain a judgment result. Based on the judgment result, it is determined whether the current position of the target following vehicle exceeds the display range of the head-up display.

[0030] For example, when the current driving direction of the vehicle is defined as the first direction and the direction perpendicular to the current driving direction of the vehicle is defined as the second direction, the real-time longitudinal reference distance may be the distance between the target following vehicle and the current vehicle in the first direction, and the real-time lateral reference distance may be the distance between the target following vehicle and the current vehicle in the second direction. When it is determined that the real-time lateral reference distance is within the real-time lateral distance range and the real-time longitudinal reference distance is within the vertical display range of the head-up display, it can be determined that the current position of the target following vehicle does not exceed the display range of the head-up display. When the real-time lateral reference distance is not included within the real-time lateral distance range, or when the real-time longitudinal reference distance is not included within the vertical display range of the head-up display, it can be determined that the current position of the target following vehicle exceeds the display range of the head-up display.

[0031] The vertical display range of the head-up display can be determined based on the device parameters of the head-up display.

[0032] For example, referring to FIG. 2, a schematic diagram of the driving scene is shown. As shown in FIG. 2, point A may indicate the position of the current vehicle, and point B may indicate the current position of the target following vehicle. The first direction and the second direction are the directions indicated by the arrows in FIG. 2. In FIG. 2, OB may indicate the real-time longitudinal reference distance, and AO may indicate the real-time lateral reference distance. When the FOV (field of view) of the head-up display is ∠θ in FIG. 2, the length of DC (or the length of DE) can be determined based on ∠θ and the length of AD (equal to the length of OB). Based on the length of DC, the real-time lateral distance range of the target following vehicle within the display range of the head-up display may be determined, or the length of DC may be determined as the maximum value of the real-time lateral distance range. For example, in FIG. 2, when the length of the real-time lateral reference distance DB of the target following vehicle (equal to the length of AO) is smaller than the length of DC, it can be determined that the real-time lateral reference distance of the target following vehicle is included within the real-time lateral distance range.

[0033] In actual operation, the road on which the vehicle is currently traveling may include multiple lanes, and there is a possibility that the current vehicle and the target following vehicle are traveling in different lanes. That is, the target following vehicle may be located not in front of the current vehicle, but in the left front or right front. In this case, not only may the current position of the target following vehicle exceed the vertical display range of the head-up display, but it may also exceed the horizontal display range. Therefore, in the embodiments of the present disclosure, by combining the display parameters of the head-up display, the real-time horizontal reference distance, and the real-time vertical reference distance of the target following vehicle, it is possible to more accurately determine whether the current position of the target following vehicle exceeds the display range of the head-up display. In this way, the following icon of the target following vehicle can be more accurately displayed, and the visual experience when the driver uses the head-up display can be improved.

[0034] When it is specified that the current position of the target following vehicle exceeds the display range of the head-up display, it further includes specifying the type of excess. The types include vertical excess, right-side horizontal excess, and left-side horizontal excess.

[0035] For example, in the embodiments of the present disclosure, when it is specified that the real-time vertical reference distance is not included in the vertical display range of the head-up display, regardless of whether the real-time horizontal reference distance is included in the real-time horizontal distance range, it can be specified that the current position of the target following vehicle exceeds vertically (is beyond). Also, when it is specified that the real-time vertical reference distance is within the vertical display range of the head-up display, but the real-time horizontal reference distance is not included in the real-time horizontal distance range, it can be specified that the current position of the target following vehicle exceeds horizontally.

[0036] In one embodiment, as shown in FIG. 2, when the second direction is the positive horizontal direction and the opposite direction is the negative horizontal direction, and the position A of the current vehicle is taken as the coordinate origin, if the coordinate value of the real-time horizontal reference distance is positive, it can be determined that the exceeding type is the right-side horizontal exceeding. If the coordinate value of the real-time horizontal reference distance is negative, it can be determined that the exceeding type is the left-side horizontal exceeding.

[0037] When the display range of the head-up display is limited, in order to more accurately display the situation of the target following vehicle outside the display range, in the embodiments according to the present disclosure, the current position of the target following vehicle exceeding the display range of the head-up display can be further classified in more detail. Thereby, the driver assistance function of the head-up display is improved, and the visual experience of the driver when using the head-up display is improved.

[0038] S102: When it is determined that the current position of the target following vehicle does not exceed the display range, determine the display position of the icon based on the real-time reference distance, and dynamically display the following icon of the target following vehicle in a first predetermined manner at the display position of the icon. When it is determined that the current position of the target following vehicle exceeds the display range, display the following icon in a second predetermined manner at a predetermined display position.

[0039] In order to improve the driver assistance function of the head-up display, in the embodiments of the present disclosure, not only the following icon of the target following vehicle can be displayed, but also the following icon of the target following vehicle can be displayed in different display manners according to different driving situations.

[0040] The first predetermined manner and the second predetermined manner may be two different preset display manners.

[0041] When dynamically displaying a following icon of a target following vehicle in a first predetermined manner at the display position of the icon, determine the current size of the following icon based on the real-time reference distance, and display the following icon corresponding to the current size at the display position of the icon.

[0042] In one embodiment, a standard reference distance, a standard size of the following icon, and a size calculation rule are recorded in the head-up display, and this size calculation rule may be based on the rule of "bigger when close, smaller when far" (that is, the larger the real-time reference distance, the smaller the current size of the following icon). During the driving of the current vehicle, based on the difference between the real-time reference distance and the standard reference distance, according to the size calculation rule, determine the difference between the current size of the following icon and the standard size of the following icon, and finally determine the current size of the following icon.

[0043] In another embodiment, a correspondence table between the size and the real-time reference distance range may be recorded in the head-up display. In this correspondence table, a specific real-time reference distance range may correspond to a specific size. During the driving of the current vehicle, based on the real-time reference distance, identify which real-time reference distance range in the correspondence table the reference distance belongs to, and determine the size corresponding to that real-time reference distance range as the current size of the following icon.

[0044] For example, the display position of the icon may be a position corresponding to the rear of the target following vehicle on the screen of the head-up display, and the display position of the icon is a position that dynamically changes based on the real-time reference distance of the target following vehicle relative to the current vehicle, rather than a fixed display position.

[0045] In an embodiment of the present disclosure, when the current position of the target following vehicle does not exceed the display range, the following icon of the target following vehicle can be dynamically displayed based on the real-time reference distance of the target following vehicle with respect to the current vehicle. During the display, the current size of the following icon is adjusted based on the real-time reference distance. The larger the real-time reference distance, the smaller the size of the following icon, and the smaller the reference distance, the larger the size of the following icon. In this way, the driver can grasp the real-time inter-vehicle distance between the current vehicle and the target following vehicle from the current size of the following icon, adjust the vehicle speed according to the real-time inter-vehicle distance, and keep the inter-vehicle distance within a safe range. That is, it can be seen that in the embodiment of the present disclosure, the surrounding situation of the current vehicle can be more clearly shown to the driver, and the visual experience when using the head-up display can be improved.

[0046] When the following icon is displayed in a second predetermined manner at a predetermined display position, it includes displaying a following icon corresponding to a preset size at the predetermined display position.

[0047] The predetermined display position may be a predetermined display position, and the predetermined size may be a predetermined size.

[0048] When the current position of the target following vehicle exceeds the display range, the following icon of the target following vehicle cannot be displayed at the corresponding position of the target following vehicle in the head-up display. In order to realize the display of the vehicle situation of the target following vehicle outside the display range under the situation where the display range of the head-up display is limited, in the embodiment of the present disclosure, the following icon can be displayed at a predetermined display position (a preset display position). By doing so, the visual experience of the driver when using the head-up display can be improved.

[0049] Displaying a follow-up icon in a second predetermined manner at a predetermined display position includes determining the predetermined display position from a candidate boundary position based on an excess type and displaying the follow-up icon in the second predetermined manner at the predetermined display position.

[0050] For example, in one embodiment, the candidate boundary positions may include the central position of the upper side, the central position of the left side, and the central position of the right side of the head-up display. When the excess type is a vertical excess, the central position of the upper side can be determined as the predetermined display position. When the excess type is a right-side horizontal excess, the central position of the right side can be determined as the predetermined display position. When the excess type is a left-side horizontal excess, the central position of the left side can be determined as the predetermined display position. In actual applications, the candidate boundary positions may include other positions of the head-up display and are not limited to this in the embodiments of the present disclosure.

[0051] In order to more accurately display the situation of the target following vehicle outside the display range, in the embodiments of the present disclosure, the predetermined display position can be determined based on the excess type when the current position of the target following vehicle exceeds the display range of the head-up display. In this way, when the current vehicle is running and the current position of the target following vehicle exceeds the display range, the driver can grasp in which direction the current position of the target following vehicle is based on the display position of the follow-up icon and can decelerate or change direction in advance. Thereby, the driver's visual experience when using the head-up display is improved.

[0052] The method for displaying a follow-up icon disclosed in the embodiments of the present invention may also include transmitting an acquisition command to an Adaptive Cruise Control (ACC) when a start command is detected and receiving real-time driving data of a target following vehicle with respect to the current vehicle.

[0053] In one embodiment, a switch button is installed on the head-up display. After the vehicle starts, when the user presses this switch button, a startup command is detected. In another embodiment, an in-vehicle control terminal is installed in the vehicle, and this in-vehicle control terminal is connected to the head-up display. The display of the in-vehicle control terminal is provided with a switch control for the head-up display, and the user can activate the startup command by clicking, long-pressing, or sliding this switch control. In actual operation, the startup command can also be activated by other means, such as a pre-set voice command, etc., and the embodiments of the present disclosure are not limited thereto.

[0054] The acquisition command instructs the adaptive cruise control device to determine a target following vehicle from among the candidate vehicles based on the real-time driving data of the candidate vehicles with respect to the current vehicle, and to transmit the real-time driving data of the target following vehicle with respect to the current vehicle to the head-up display. Here, the real-time driving data of the target following vehicle with respect to the current vehicle includes at least the real-time reference distance. The candidate vehicles may be a plurality of vehicles existing in front of the current vehicle in the traveling direction of the current vehicle.

[0055] The real-time driving data of the candidate vehicles with respect to the current vehicle may include the real-time lateral reference distance, the real-time longitudinal reference distance, the real-time vehicle speed, the traveling direction of the current vehicle, the lane position, and the lane position of the candidate vehicles of the candidate vehicles with respect to the current vehicle. The adaptive cruise control device can determine a target following vehicle from among the candidate vehicles based on the above-mentioned plurality of driving data.

[0056] For example, in one application scenario, the current vehicle is driving on a road with multiple lanes. There is one vehicle in front of the current vehicle's lane, the left adjacent lane, and the right adjacent lane respectively. If the vehicle speeds of these vehicles are all different and they are not driving side by side, each vehicle can be determined as a candidate vehicle. In this case, the adaptive cruise control device can determine the vehicle with the minimum real-time longitudinal reference distance to the current vehicle as the target following vehicle. Or, the vehicle with the lowest vehicle speed relative to the current vehicle can also be determined as the target following vehicle. Or, the vehicle with the minimum real-time longitudinal reference distance to the current vehicle and the lowest vehicle speed relative to the current vehicle can be determined as the target following vehicle.

[0057] For example, in another application scenario, the current vehicle is driving on a road with multiple lanes. There is one vehicle in front of the current vehicle's lane, the left adjacent lane, and the right adjacent lane respectively. If the speeds of these vehicles are the same and they are driving side by side, these three vehicles can be determined as candidate vehicles. In this case, the real-time longitudinal reference distances of the three candidate vehicles to the current vehicle are the same, and the vehicle with the smallest real-time lateral reference distance can be determined as the target following vehicle. Also, if one of the candidate vehicles decelerates, the decelerating vehicle can be reset as the target following vehicle.

[0058] In an actual application, the road on which the current vehicle is driving may include multiple lanes, and there may be vehicles in each lane in front of the current vehicle's traveling direction. When the head-up display simultaneously displays following icons for multiple vehicles, if the multiple vehicles are close to each other, the following icons may overlap, which may have an adverse effect on the driver's visual experience when using the head-up display. Therefore, in the embodiments of the present disclosure, after the head-up display is activated, an acquisition command is sent to the adaptive cruise control device, and one target following vehicle is selected based on the real-time driving data of the multiple candidate vehicles with respect to the current vehicle, and the head-up display can display only the following icon of the selected target following vehicle.

[0059] In addition, the adaptive cruise control device adjusts the target following vehicle based on the real-time driving data of a plurality of candidate vehicles with respect to the host vehicle, transmits an adjustment command to the head-up display, and can instruct the head-up display to display a new and different target following vehicle based on the adjustment command. Thus, in the embodiments of the present disclosure, since the head-up display displays the following icon of one target following vehicle selected by the adaptive cruise control device, a plurality of following icons do not overlap, and the driver's visual experience when using the head-up display can be improved.

[0060] After the host vehicle is started, if the head-up display does not detect an activation command, the acquisition command is not transmitted to the adaptive cruise control device, and the following icon is not displayed either. Also, after the head-up display transmits an acquisition command to the adaptive cruise control device, if an off command is detected (this off command is generated when the user operates a switch button on the head-up display or operates a switch control), the reception of real-time driving data transmitted from the adaptive cruise control device can be stopped, and the display of the following icon can be stopped. Furthermore, after the head-up display transmits an acquisition command to the adaptive cruise control device, if the adaptive cruise control device does not detect a target following vehicle, feedback information can be transmitted to the head-up display to instruct the head-up display not to display the following icon. In this way, in the embodiments according to the present disclosure, since the head-up display can display the following icon based on the user's request and the real-time traffic conditions around the host vehicle, the driver's visual experience can be improved.

[0061] As described above, in the method for displaying a following icon disclosed in the embodiments of the present invention, during the running of the vehicle, it is determined in real time how far the target following vehicle is from the current vehicle. When the vehicle is not beyond the display range of the head-up display, the display position of the icon is determined based on the real-time reference distance, and the following icon is dynamically displayed in the first predetermined manner at that position. Thereby, it becomes easier for the driver to grasp the real-time driving situation of the target following vehicle through the following icon, and it becomes easier to make judgments such as avoidance and deceleration. Further, when the target following vehicle is beyond the display range, the following icon can be displayed in the second predetermined manner. Thereby, even when the display range is limited, the driving situation of the target following vehicle outside the range can be conveyed to the driver, enabling the driver to make judgments of avoidance and deceleration earlier. Thus, in the technical solution disclosed by the embodiments of the present invention, based on the real-time reference distance of the target following vehicle with respect to the current vehicle, the following icon of the target following vehicle is displayed in different display manners (including the first predetermined manner, the second predetermined manner, etc.), so that the driving assistance function of the head-up display is improved, and the visual experience of the driver when using the head-up display can be improved.

[0062] As shown in FIG. 3, in the embodiments of the present invention, a method for displaying a following icon is disclosed, including the following steps S301 to S308:

[0063] S301: During the running of the current vehicle, based on the display parameters of the head-up display and the real-time vertical reference distance of the target following vehicle with respect to the current vehicle, determine the real-time horizontal distance range in which the target following vehicle is within the display range of the head-up display.

[0064] S302: Determine whether the real-time vertical reference distance is within the vertical display range of the head-up display.

[0065] When it is determined that the vertical reference distance is not within the vertical display range (NO), step S303 is executed; when it is determined that it is within the range (YES), step S304 is executed.

[0066] S303: When it is determined that the current position of the target following vehicle exceeds the display range and the exceeding type is vertical exceeding, the following icon is displayed in a second predetermined manner at a predetermined display position corresponding to the vertical exceeding.

[0067] S304: Determine whether the real-time horizontal reference distance is within the real-time horizontal distance range.

[0068] When it is determined that the real-time horizontal reference distance is within the real-time horizontal distance range (YES), step S305 is executed; when it is determined that the real-time horizontal reference distance does not belong to the real-time horizontal distance range (NO), step S306 is executed.

[0069] S305: Determine that the current position of the target following vehicle is within the display range of the head-up display, determine the display position of the icon based on the real-time reference distance, and dynamically display the following icon of the target following vehicle in a first predetermined manner at the display position of the icon.

[0070] S306: Determine whether the exceeding type is right-side horizontal exceeding.

[0071] When it is determined that the exceeding type is right-side horizontal exceeding (YES), step S307 is executed; when it is determined that the exceeding type is left-side horizontal exceeding (NO), step S308 is executed.

[0072] S307: Display the following icon in a second predetermined manner at a predetermined display position corresponding to the right-side horizontal exceeding.

[0073] S308: Display the following icon in a second predetermined manner at a predetermined display position corresponding to the left-side horizontal exceeding.

[0074] As shown in FIG. 4, in the embodiment according to the present invention, a method for displaying a following icon is disclosed, which includes steps from S401 to S406:

[0075] S401: When the current vehicle is running, detect a start command.

[0076] S402: When a start command is detected, send an acquisition command to the adaptive cruise control device.

[0077] S403: Receive real-time driving data of the target following vehicle with respect to the current vehicle (real-time driving data of the target following vehicle with respect to the current vehicle) transmitted from the adaptive cruise control device.

[0078] S404: Based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle, determine whether the current position of the target following vehicle exceeds the display range of the head-up display.

[0079] S405: When the current position of the target following vehicle does not exceed the display range, determine the display position of the icon based on the real-time reference distance, and dynamically display the following icon of the target following vehicle in a first predetermined manner at the display position of the icon. When the current position of the target following vehicle exceeds the display range, display the following icon in a second predetermined manner at a predetermined display position.

[0080] S406: When an off command is detected, end the display of the following icon.

[0081] As shown in FIG. 5, in the embodiment according to the present invention, a display device for a following icon is further disclosed, and the device includes the following determination module 11 and display module 21:

[0082] The determination module 11 executes S101 in the foregoing method, and the display module 21 executes S102 in the foregoing method.

[0083] The determination module 11 is configured to determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle during the current driving of the vehicle. The display module 21 is configured to determine the display position of the icon based on the real-time reference distance and dynamically display the following icon of the target following vehicle in a first predetermined manner at the determined display position of the icon when the determination module 11 determines that the current position of the target following vehicle does not exceed the display range. Further, the display module 21 is also configured to display the following icon in a second predetermined manner at a predetermined display position when the determination module 11 determines that the current position of the target following vehicle exceeds the display range.

[0084] In one embodiment, the real-time reference distance includes a real-time lateral reference distance and a real-time vertical reference distance, and the determination module 11 is configured as follows.

[0085] That is, the determination module 11: determines a real-time lateral distance range within which the target following vehicle is within the display range of the head-up display based on the display parameters and the real-time vertical reference distance, determines whether the real-time lateral reference distance is within the real-time lateral distance range, and determines whether the real-time vertical reference distance is within the vertical display range of the head-up display to obtain a determination result; and is configured to determine whether the current position of the target following vehicle exceeds the display range of the head-up display based on these determination results.

[0086] In another embodiment, the determination module 11 is further configured as follows: to determine an exceeding type when the current position of the target following vehicle exceeds the display range of the head-up display; the exceeding type includes vertical exceeding, right lateral exceeding, and left lateral exceeding.

[0087] In yet another embodiment, the display module 21 is configured as follows: a predetermined display position (predetermined display position) is determined from candidate boundary positions based on the excess type, and a follow-up icon is displayed in the second predetermined manner at the predetermined display position.

[0088] Also, in another embodiment, the display module 21 is configured as follows: the current size of the follow-up icon is determined based on the real-time reference distance, and a follow-up icon corresponding to the current size is displayed at the icon display position.

[0089] Furthermore, in another embodiment, the display module 21 is configured as follows: at a predetermined display position, a follow-up icon corresponding to a predetermined size (predetermined size) is displayed.

[0090] Also, in another embodiment, the display device for the follow-up icon according to the present invention can include a transmission module and a reception module. The transmission module is configured to transmit an acquisition command to the adaptive cruise control device when a start command is detected. The acquisition command is used for the instruction of the adaptive cruise control device, that is, based on the real-time driving data of the candidate vehicle with respect to the current vehicle, a target following vehicle is determined from the candidate vehicles, and the real-time driving data of the target following vehicle with respect to the current vehicle is instructed to be transmitted to the head-up display. The real-time driving data of the target following vehicle with respect to the current vehicle includes at least the real-time reference distance. The reception module is configured to receive the real-time driving data of the target following vehicle with respect to the current vehicle transmitted from the adaptive cruise control device.

[0091] The display device for the follow-up icon can further include a storage module that stores program codes of the display device and the like.

[0092] As shown in FIG. 6, in an embodiment of the present invention, a head-up display is disclosed, and the head-up display includes a memory 41, processors 42 (42-1 and 42-2), a bus 43, and a communication interface 44. The memory 41 is set to store computer-executable instructions, and the processor 42 is connected to the memory 41 via the bus 43. When the head-up display is operating, the processor 42 executes the computer-executable instructions stored in the memory 41 and executes the method for displaying the follow-up icon disclosed in the above embodiment.

[0093] In implementation, as one embodiment, the processor 42 can include one or more central processing units (CPUs). For example, as shown in FIG. 6, CPU0 and CPU1 can be included. Also, as one embodiment, the head-up display can include a plurality of processors 42 (for example, as shown in FIG. 6, processor 42-1 and processor 42-2). Any of these CPUs 42 can be a single-core processor or a multi-core processor. Here, the processor 42 may refer to one or more devices or circuits and / or a processing core set for data processing (for example, computer program instructions).

[0094] Memory 41 includes, but is not limited to, a read-only memory (ROM), other types of static memory devices for storing static information and instructions, a random access memory (RAM), other dynamic memory devices, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), and other optical disk storage, optical disk storage (including compressed disks, laser disks, digital video disks, Blu-ray disks, etc.), magnetic disk storage media, or other media that stores information in the form of program code and data structures and is accessible by a computer. Memory 41 can exist independently and be connected to processor 42 via bus 43, or can be integrated with processor 42.

[0095] In an implementation, memory 41 is configured to store data related to the present invention and computer-executable instructions corresponding to the software program of the present invention. Processor 42 can execute the software program stored in memory 41 and call the data in memory 41 to perform various functions of the head-up display.

[0096] Communication interface 44 is configured to communicate with other devices and communication networks (e.g., a control system, a radio access network (RAN), a wireless local area network (WLAN), etc.) using devices such as a transceiver. Communication interface 44 includes a receiving unit with a receiving function and a transmitting unit with a transmitting function.

[0097] Bus 43 can include, for example, an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus 43 includes an address bus, a data bus, a control bus, and the like. Although it is shown as a single thick line in FIG. 6 for convenience, it does not actually represent only one bus or one type of bus.

[0098] As an example, based on FIG. 5, the functions realized by the display module in the display device of the follow icon are the same as those realized by the processor 42 in FIG. 6. When the display device of the follow icon includes a transmission module, the functions realized by the transmission module in the display device of the follow icon are the same as those realized by the transmission unit in FIG. 6. Also, when the display device of the follow icon includes a reception module, the functions realized by the reception module in the display device of the follow icon are the same as those realized by the reception unit in FIG. 6. Furthermore, when the display device of the follow icon includes a storage module, the functions realized by the storage module in the display device of the follow icon are the same as those realized by the memory 41 in FIG. 6.

[0099] For the description of the relevant content in this embodiment, reference can be made to the foregoing method embodiments, so it will not be elaborated here.

[0100] As can be understood by those skilled in the art from the description of the above embodiments, for the sake of convenience and brevity of description, only the division of the above-mentioned multiple functional modules has been taken as an example. However, in actual applications, these functions can be divided into different functional modules and realized as needed. That is, by dividing the internal structure of the device into different functional modules, all or part of the above functions can be executed. Since the operation processes of the foregoing system, device, and unit can refer to the corresponding processes of the foregoing method embodiments, they will not be elaborated here.

[0101] An embodiment of the present invention further discloses a computer-readable storage medium. Instructions are stored in the computer-readable storage medium, and when the instructions are executed by a computer, the computer executes the method for displaying a follow-up icon disclosed in the foregoing embodiments.

[0102] A computer-readable storage medium includes, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or a combination thereof. Examples of a computer-readable storage medium include, for example, a plurality of wires with electrical connections, a portable computer magnetic disk, a hard disk, a RAM, a ROM, an erasable programmable read only memory (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above, or other forms of computer-readable storage media known to those skilled in the art. As an example, a storage medium is connected to a processor so that the processor can read information from or write information to the storage medium. Of course, the storage medium can also be a part of the processor. The processor and the storage medium can also be arranged in an application specific integrated circuit (ASIC). In an embodiment of the present disclosure, the computer-readable storage medium may be any tangible medium that includes or stores a program used by or related to an instruction execution system, apparatus, or device.

Claims

1. When the vehicle is currently in motion, based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle, determining whether the current position of the target following vehicle exceeds the display range of the head-up display; When it is determined that the current position of the target following vehicle does not exceed the display range, determining the display position of the icon based on the real-time reference distance, and dynamically displaying the following icon of the target following vehicle in a first predetermined manner at the display position of the icon; When it is determined that the current position of the target following vehicle exceeds the display range, displaying the following icon in a second predetermined manner at a predetermined display position; A method for displaying a following icon, including the above steps.

2. The real-time reference distance includes a real-time horizontal reference distance and a real-time vertical reference distance. Based on the display parameters of the head-up display and the real-time reference distance of the target following vehicle with respect to the current vehicle, determining whether the current position of the target following vehicle exceeds the display range of the head-up display; Based on the display parameters and the real-time vertical reference distance, determining that the target following vehicle is within the real-time horizontal distance range within the display range of the head-up display; Determining whether the real-time horizontal reference distance is within the real-time horizontal distance range, and determining whether the real-time vertical reference distance is within the vertical display range of the head-up display, to obtain a final determination result; Based on the determination result, determining whether the current position of the target following vehicle exceeds the display range of the head-up display; The method according to claim 1.

3. When it is determined that the current position of the target following vehicle exceeds the display range of the head-up display, further including the step of determining the type of excess; The types of excess include vertical excess, right-side horizontal excess, and left-side horizontal excess; The method according to claim 2.

4. The step of displaying the following icon in a second predetermined manner at the predetermined display position includes: Based on the type of excess, determining the predetermined display position from the candidate boundary position, and displaying the following icon in the second predetermined manner at the predetermined display position. The method according to claim 3.

5. The step of dynamically displaying the following icon of the target following vehicle in a first predetermined manner at the icon display position includes: determining the current size of the following icon based on the real-time reference distance, and displaying the following icon corresponding to the current size at the icon display position. The method according to claim 1.

6. The step of displaying the following icon in a second predetermined manner at the predetermined display position includes: displaying the following icon corresponding to a predetermined size at the predetermined display position. The method according to claim 1.

7. When a start command is detected, further including the step of transmitting an acquisition command to the adaptive cruise control device and the step of receiving real-time driving data of the target following vehicle transmitted from the adaptive cruise control device, wherein the acquisition command instructs the adaptive cruise control device to determine the target following vehicle from the candidate vehicles based on the real-time driving data of the candidate vehicles and transmit the real-time driving data of the target following vehicle to the head-up display, and the real-time driving data of the current vehicle with respect to the target following vehicle includes at least the real-time reference distance. The method according to any one of claims 1 to 6.

8. The determination module determines whether the current position of the target following vehicle exceeds the display range of the head-up display based on the display parameters of the head-up display and the real-time reference distance that the target following vehicle has with respect to the current vehicle while the current vehicle is running. When the determination module determines that the current position of the target following vehicle does not exceed the display range, the display module determines the display position of the icon based on the real-time reference distance and sets to dynamically display the following icon of the target following vehicle in a first predetermined manner at that position. The display module also sets to display the following icon in a second predetermined manner at a predetermined display position when the determination module determines that the current position of the target following vehicle exceeds the display range. A display device for the following icon.

9. A head-up display including a memory, a processor, a bus, and a communication interface, wherein the memory is set to store computer-executable instructions, and the processor is connected to the memory via the bus. While the head-up display is operating, the processor executes the computer-executable instructions stored in the memory and is configured to execute the method for displaying a follow-up icon according to any one of claims 1 to 7, a head-up display.

10. A computer-readable storage medium, in which instructions are stored, and when the instructions are executed by a computer, the computer executes the method for displaying a follow-up icon according to any one of claims 1 to 7, a computer-readable storage medium.

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